Timm Linder

Bio: Timm Linder is an academic researcher from Bosch. The author has contributed to research in topics: Context (language use) & Pose. The author has an hindex of 11, co-authored 27 publications receiving 612 citations. Previous affiliations of Timm Linder include RWTH Aachen University & University of Duisburg-Essen.

SPENCER: A Socially Aware Service Robot for Passenger Guidance and Help in Busy Airports

Abstract: We present an ample description of a socially compliant mobile robotic platform, which is developed in the EU-funded project SPENCER. The purpose of this robot is to assist, inform and guide passengers in large and busy airports. One particular aim is to bring travellers of connecting flights conveniently and efficiently from their arrival gate to the passport control. The uniqueness of the project stems from the strong demand of service robots for this application with a large potential impact for the aviation industry on one side, and on the other side from the scientific advancements in social robotics, brought forward and achieved in SPENCER. The main contributions of SPENCER are novel methods to perceive, learn, and model human social behavior and to use this knowledge to plan appropriate actions in real-time for mobile platforms. In this paper, we describe how the project advances the fields of detection and tracking of individuals and groups, recognition of human social relations and activities, normative human behavior learning, socially-aware task and motion planning, learning socially annotated maps, and conducting empirical experiments to assess socio-psychological effects of normative robot behaviors.

On multi-modal people tracking from mobile platforms in very crowded and dynamic environments

Abstract: Tracking people is a key technology for robots and intelligent systems in human environments. Many person detectors, filtering methods and data association algorithms for people tracking have been proposed in the past 15+ years in both the robotics and computer vision communities, achieving decent tracking performances from static and mobile platforms in real-world scenarios. However, little effort has been made to compare these methods, analyze their performance using different sensory modalities and study their impact on different performance metrics. In this paper, we propose a fully integrated real-time multi-modal laser/RGB-D people tracking framework for moving platforms in environments like a busy airport terminal. We conduct experiments on two challenging new datasets collected from a first-person perspective, one of them containing very dense crowds of people with up to 30 individuals within close range at the same time. We consider four different, recently proposed tracking methods and study their impact on seven different performance metrics, in both single and multi-modal settings. We extensively discuss our findings, which indicate that more complex data association methods may not always be the better choice, and derive possible future research directions.

Hybreed: A software framework for developing context-aware hybrid recommender systems

Abstract: This article introduces Hybreed, a software framework for building complex context-aware applications, together with a set of components that are specifically targeted at developing hybrid, context-aware recommender systems. Hybreed is based on a concept for processing context that we call dynamic contextualization. The underlying notion of context is very generic, enabling application developers to exploit sensor-based physical factors as well as factors derived from user models or user interaction. This approach is well aligned with context definitions that emphasize the dynamic and activity-oriented nature of context. As an extension of the generic framework, we describe Hybreed RecViews, a set of components facilitating the development of context-aware and hybrid recommender systems. With Hybreed and RecViews, developers can rapidly develop context-aware applications that generate recommendations for both individual users and groups. The framework provides a range of recommendation algorithms and strategies for producing group recommendations as well as templates for combining different methods into hybrid recommenders. Hybreed also provides means for integrating existing user or product data from external sources such as social networks. It combines aspects known from context processing frameworks with features of state-of-the-art recommender system frameworks, aspects that have been addressed only separately in previous research. To our knowledge, Hybreed is the first framework to cover all these aspects in an integrated manner. To evaluate the framework and its conceptual foundation, we verified its capabilities in three different use cases. The evaluation also comprises a comparative assessment of Hybreed's functional features, a comparison to existing frameworks, and a user study assessing its usability for developers. The results of this study indicate that Hybreed is intuitive to use and extend by developers.

How Robust is 3D Human Pose Estimation to Occlusion

Abstract: Occlusion is commonplace in realistic human-robot shared environments, yet its effects are not considered in standard 3D human pose estimation benchmarks. This leaves the question open: how robust are state-of-the-art 3D pose estimation methods against partial occlusions? We study several types of synthetic occlusions over the Human3.6M dataset and find a method with state-of-the-art benchmark performance to be sensitive even to low amounts of occlusion. Addressing this issue is key to progress in applications such as collaborative and service robotics. We take a first step in this direction by improving occlusion-robustness through training data augmentation with synthetic occlusions. This also turns out to be an effective regularizer that is beneficial even for non-occluded test cases.

MeTRAbs: Metric-Scale Truncation-Robust Heatmaps for Absolute 3D Human Pose Estimation

Abstract: Heatmap representations have formed the basis of human pose estimation systems for many years, and their extension to 3D has been a fruitful line of recent research. This includes 2.5D volumetric heatmaps, whose X and Y axes correspond to image space and Z to metric depth around the subject. To obtain metric-scale predictions, 2.5D methods need a separate post-processing step to resolve scale ambiguity. Further, they cannot localize body joints outside the image boundaries, leading to incomplete estimates for truncated images. To address these limitations, we propose metric-scale truncation-robust ( MeTRo ) volumetric heatmaps, whose dimensions are all defined in metric 3D space, instead of being aligned with image space. This reinterpretation of heatmap dimensions allows us to directly estimate complete, metric-scale poses without test-time knowledge of distance or relying on anthropometric heuristics, such as bone lengths. To further demonstrate the utility our representation, we present a differentiable combination of our 3D metric-scale heatmaps with 2D image-space ones to estimate absolute 3D pose (our MeTRAbs architecture). We find that supervision via absolute pose loss is crucial for accurate non-root-relative localization. Using a ResNet-50 backbone without further learned layers, we obtain state-of-the-art results on Human3.6M, MPI-INF-3DHP and MuPoTS-3D. Our code is publicly available. 1 1 https://vision.rwth-aachen.de/metrabs

In Defense of the Triplet Loss for Person Re-Identification

Abstract: In the past few years, the field of computer vision has gone through a revolution fueled mainly by the advent of large datasets and the adoption of deep convolutional neural networks for end-to-end learning. The person re-identification subfield is no exception to this. Unfortunately, a prevailing belief in the community seems to be that the triplet loss is inferior to using surrogate losses (classification, verification) followed by a separate metric learning step. We show that, for models trained from scratch as well as pretrained ones, using a variant of the triplet loss to perform end-to-end deep metric learning outperforms most other published methods by a large margin.

Context-Aware Recommender Systems

Abstract: Context-aware recommender systems (CARS) generate more relevant recommendations by adapting them to the specific contextual situation of the user. This article explores how contextual information can be used to create more intelligent and useful recommender systems. It provides an overview of the multifaceted notion of context, discusses several approaches for incorporating contextual information in recommendation process, and illustrates the usage of such approaches in several application areas where different types of contexts are exploited. The article concludes by discussing the challenges and future research directions for context-aware recommender systems.

Context-aware recommender systems

Abstract: The importance of contextual information has been recognized by researchers and practitioners in many disciplines, including e-commerce personalization, information retrieval, ubiquitous and mobile computing, data mining, marketing, and management. While a substantial amount of research has already been performed in the area of recommender systems, most existing approaches focus on recommending the most relevant items to users without taking into account any additional contextual information, such as time, location, or the company of other people (e.g., for watching movies or dining out). In this chapter we argue that relevant contextual information does matter in recommender systems and that it is important to take this information into account when providing recommendations. We discuss the general notion of context and how it can be modeled in recommender systems. Furthermore, we introduce three different algorithmic paradigms – contextual prefiltering, post-filtering, and modeling – for incorporating contextual information into the recommendation process, discuss the possibilities of combining several contextaware recommendation techniques into a single unifying approach, and provide a case study of one such combined approach. Finally, we present additional capabilities for context-aware recommenders and discuss important and promising directions for future research.

Time-aware recommender systems: a comprehensive survey and analysis of existing evaluation protocols

Abstract: Exploiting temporal context has been proved to be an effective approach to improve recommendation performance, as shown, e.g. in the Netflix Prize competition. Time-aware recommender systems (TARS) are indeed receiving increasing attention. A wide range of approaches dealing with the time dimension in user modeling and recommendation strategies have been proposed. In the literature, however, reported results and conclusions about how to incorporate and exploit time information within the recommendation processes seem to be contradictory in some cases. Aiming to clarify and address existing discrepancies, in this paper we present a comprehensive survey and analysis of the state of the art on TARS. The analysis show that meaningful divergences appear in the evaluation protocols used--metrics and methodologies. We identify a number of key conditions on offline evaluation of TARS, and based on these conditions, we provide a comprehensive classification of evaluation protocols for TARS. Moreover, we propose a methodological description framework aimed to make the evaluation process fair and reproducible. We also present an empirical study on the impact of different evaluation protocols on measuring relative performances of well-known TARS. The results obtained show that different uses of the above evaluation conditions yield to remarkably distinct performance and relative ranking values of the recommendation approaches. They reveal the need of clearly stating the evaluation conditions used to ensure comparability and reproducibility of reported results. From our analysis and experiments, we finally conclude with methodological issues a robust evaluation of TARS should take into consideration. Furthermore we provide a number of general guidelines to select proper conditions for evaluating particular TARS.